Driving assistance method, domain controller and computer program product

Abstract

The invention provides a driving assistance method, a domain controller and a computer program product, and according to the driving assistance method provided by the invention, in the driving process of a vehicle, a target object set located in front of the vehicle and detected based on environmental perception is obtained; and the track overlapping objects overlapped with the driving track of the vehicle are determined in the target object set, if the number of the track overlapping objects is larger than 1, braking control is conducted on the vehicle according to the motion states corresponding to the track overlapping objects, and the driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a driving assistance method, a domain controller, and a computer program product. Background Technology

[0002] Automatic Emergency Braking (AEB) is an active safety technology used in vehicles to brake the vehicle in certain emergency situations. AEB primarily uses various sensors to obtain information about other road users, such as the distance and relative speed between the vehicle and other vehicles, pedestrians, or objects ahead. Based on different distances and vehicle speeds, it can determine whether there is a risk of collision. When a potential collision risk is predicted, it actively applies emergency braking or slows down the vehicle, thereby reducing the probability of a collision with the vehicle or pedestrian ahead and avoiding an accident.

[0003] Most current automatic emergency braking systems typically use the single vehicle closest to the vehicle in front as the input to achieve emergency braking control. They do not consider the collision risk between multiple vehicles in front. If the vehicle closest to the vehicle collides with a vehicle directly in front of that vehicle, the vehicle may not be able to brake in time, potentially causing a chain-reaction accident. Summary of the Invention

[0004] Based on this, the present invention provides a driving assistance method, a domain controller, and a computer program product. Using this driving assistance method, during vehicle operation, when multiple trajectory overlap objects that overlap with the vehicle's trajectory are detected, the vehicle is braked according to the motion states corresponding to the detected multiple trajectory overlap objects, thereby improving driving safety.

[0005] On one hand, the present invention provides a driving assistance method, comprising:

[0006] Obtain the set of target objects located in front of the vehicle based on environmental perception detection;

[0007] In the target object set, identify trajectory overlapping objects that overlap with the vehicle's driving trajectory. The target object set includes multiple target objects and motion states corresponding to each target object.

[0008] If the number of overlapping trajectory objects is greater than 1, then the vehicle is braked according to the motion state corresponding to each overlapping trajectory object.

[0009] Furthermore, in some embodiments, the step of braking the vehicle according to the motion state corresponding to each of the trajectory overlapping objects includes:

[0010] Among the aforementioned trajectory overlapping objects, determine the first overlapping object that is closest to the vehicle in relative distance and the second overlapping object that is located in front of the first overlapping object;

[0011] Calculate the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the first overlapping object;

[0012] The second collision risk between the second overlapping object and the first overlapping object is calculated based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object.

[0013] The vehicle is braked based on the first collision risk and the second collision risk.

[0014] Furthermore, in some embodiments, the motion state includes the relative speed and relative distance between the trajectory overlapping object and the vehicle, the first collision risk is represented by the first collision time between the first overlapping object and the vehicle, and the second collision risk is represented by the second collision time between the second overlapping object and the first overlapping object;

[0015] The step of calculating the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the first overlapping object includes:

[0016] The first collision time between the vehicle and the first trajectory overlapping object is calculated based on the first relative distance between the vehicle and the first overlapping object and the first relative speed between the vehicle and the first overlapping object.

[0017] The step of calculating the second collision risk between the second overlapping object and the first overlapping object based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object includes:

[0018] A third relative distance between the first overlapping object and the second overlapping object is determined based on a first relative distance between the vehicle and the first overlapping object and a second relative distance between the vehicle and the second overlapping object;

[0019] A third relative speed between the first overlapping object and the second overlapping object is determined based on the first relative speed between the vehicle and the first overlapping object and the second relative speed between the vehicle and the second overlapping object;

[0020] The second collision time between the first overlapping object and the second overlapping object is determined based on the third relative distance and the third phase velocity.

[0021] Furthermore, in some embodiments, the braking control of the vehicle based on the first collision risk and the second collision risk includes:

[0022] If the first collision time is less than a preset time threshold and / or the second collision time is less than the preset time threshold, then braking control is applied to the vehicle.

[0023] Furthermore, in some embodiments, if the first collision time is less than a preset time threshold and / or the second collision time is less than the preset time threshold, then braking control is applied to the vehicle, including:

[0024] If the first collision time is less than a preset time threshold, then the vehicle is braked according to the maximum braking performance.

[0025] If the first collision time is greater than or equal to the preset time threshold, and the second collision time is less than the preset time threshold, then the vehicle is braked according to the preset braking performance, which is weaker than the maximum braking performance.

[0026] Furthermore, in some embodiments, the preset time threshold includes a first time threshold and a second time threshold, wherein the second time threshold is less than the first time threshold. If the first collision time is less than the preset time threshold and / or the second collision time is less than the preset time threshold, then braking control is applied to the vehicle, including:

[0027] If the first collision time is less than the second time threshold, then the vehicle is braked according to the maximum braking performance;

[0028] If the first collision time is less than the first time threshold and greater than or equal to the second time threshold, and the second collision time is greater than or equal to the first time threshold, then the vehicle is braked according to the preset braking performance.

[0029] If the first collision time is less than the first time threshold and the second collision time is less than the first time threshold, then the vehicle is braked according to the maximum braking performance.

[0030] If the first collision time is greater than or equal to the first time threshold and the second collision time is less than the first time threshold, then the vehicle is braked according to the preset braking performance.

[0031] The preset braking performance is weaker than the maximum braking performance.

[0032] Furthermore, in some embodiments, the method further includes:

[0033] If the number of the trajectory overlapping objects is equal to 1, then the vehicle is braked based on the motion state of the trajectory overlapping objects and the motion state of the vehicle.

[0034] Furthermore, in some embodiments, the motion state includes the relative speed and relative distance between the trajectory overlapping object and the vehicle, and the braking control of the vehicle based on the motion state of the trajectory overlapping object and the motion state of the vehicle includes:

[0035] The third collision time between the vehicle and the trajectory-overlapping object is calculated based on the relative speed and the relative distance.

[0036] If the third collision time is less than a preset time threshold, the vehicle will be braked with maximum braking performance.

[0037] Furthermore, in some embodiments, the preset braking performance is 40% of the maximum braking performance.

[0038] Furthermore, in some embodiments, obtaining the set of target objects located in front of the vehicle based on environmental perception detection includes:

[0039] Acquire point cloud data based on radar and image data based on visual sensors;

[0040] Based on the point cloud data and the image data, each target object and its corresponding motion state are detected. The motion state includes at least the relative speed and relative distance between the target object and the vehicle.

[0041] Furthermore, in some embodiments, the motion state also includes the position corresponding to the target object;

[0042] The step of determining the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set includes:

[0043] The vehicle's trajectory is predicted based on its driving direction and road lane information.

[0044] Based on the vehicle's driving trajectory and the corresponding positions of each target object, determine the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set.

[0045] Furthermore, in some embodiments, the method further includes:

[0046] In response to the autonomous driving assistance function being activated, the step of obtaining the set of target objects located in front of the autonomous vehicle based on environmental perception is executed;

[0047] The driving assistance functions include, but are not limited to, adaptive cruise assist, traffic jam assist, and integrated cruise assist.

[0048] On the other hand, the present invention also provides a domain controller, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the driving assistance method and braking control method described above.

[0049] On the other hand, the present invention also provides a computer program product having at least one instruction stored thereon, wherein the at least one instruction, when executed by a domain controller, implements the steps of the above-described driving assistance method and braking control method.

[0050] According to the driving assistance method provided by the present invention, during vehicle operation, a set of target objects located in front of the vehicle is acquired based on environmental perception. Within this set, trajectory overlap objects that overlap with the vehicle's trajectory are identified. If the number of trajectory overlap objects is greater than one, braking control is applied to the vehicle based on the motion state corresponding to each trajectory overlap object. That is, when multiple trajectory overlap objects are detected, the method applies braking control based on the motion state corresponding to each of the detected trajectory overlap objects. Compared to applying braking control based solely on a single vehicle in front of the vehicle, this method effectively improves driving safety.

[0051] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0052] Figure 1 A schematic flowchart of a driving assistance method provided in an embodiment of the present invention;

[0053] Figure 2 A schematic flowchart of a driving assistance method provided in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the structure of a domain controller provided in an embodiment of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0056] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0057] Automatic Emergency Braking (AEB) is an active safety technology used in vehicles to brake the vehicle in certain emergency situations. AEB primarily uses various sensors to obtain information about other road users, such as the distance and relative speed between the vehicle and other vehicles, pedestrians, or objects ahead. Based on different distances and vehicle speeds, it can determine whether there is a risk of collision. When a potential collision risk is predicted, it actively applies emergency braking or slows down the vehicle, thereby reducing the probability of a collision with the vehicle or pedestrian ahead and avoiding an accident.

[0058] In related technologies, automatic emergency braking typically uses the target object located on the vehicle's trajectory and closest to the vehicle as input to the automatic emergency braking system. Based on the detected motion state of the target object, the system controls the vehicle's braking. Existing automatic braking control schemes do not consider the collision risk between the target object closest to the vehicle and other target objects. For example, the target object closest to the vehicle may collide with an object in front of it. When a collision occurs between the target object closest to the vehicle and an object in front of it, the sudden drop in speed caused by the collision may prevent the vehicle from braking in time, potentially leading to a chain-reaction rear-end collision.

[0059] Based on this, the present invention proposes a driving assistance method. During vehicle operation, a set of target objects detected based on environmental perception located in front of the vehicle is acquired. Within the target object set, objects whose trajectories overlap with the vehicle's trajectory are identified. If the number of trajectories overlapping is greater than one, braking control is applied to the vehicle based on the motion state corresponding to each trajectories overlapping. That is, when multiple trajectories overlapping with the vehicle's trajectory are detected, the method applies braking control based on the motion state corresponding to each of the detected multiple trajectories overlapping. Compared to braking control based solely on a single vehicle in front of the vehicle, this method can effectively avoid chain-reaction rear-end collisions and improve driving safety.

[0060] Please see Figure 1 , Figure 1 This is a flowchart illustrating a driving assistance method provided in an embodiment of the present invention. The executing entity of this process can be a program for automatic braking control, or it can be a vehicle or domain controller equipped with the aforementioned program, or other devices capable of communicating with the vehicle, domain controller, etc., without specific limitations.

[0061] The following is about Figure 1 The process shown will be described in detail. The driving assistance method may specifically include the following steps:

[0062] Step S102: Obtain a set of target objects located in front of the vehicle based on environmental perception detection. The set of target objects includes multiple target objects and the motion state corresponding to each target object.

[0063] It should be noted that environmental perception refers to the vehicle's ability to identify vehicles, people, and the road environment outside the vehicle using sensors mounted inside, outside, and on the road. In one or more embodiments of the present invention, during vehicle operation, the vehicle performs environmental perception based on radar, collects environmental perception data, and identifies and detects objects based on the collected environmental perception data to obtain corresponding detection results. These detection results include, but are not limited to, the location information of the target object, the relative speed between the target object and the vehicle, the relative distance between the target object and the vehicle, and the type of the target object.

[0064] In this embodiment, during vehicle operation, the vehicle uses radar sensors to perceive the environment, detect all target objects located in front of the vehicle, and the motion state of each target object.

[0065] The target object can be a vehicle, pedestrian, two-wheeled non-motorized vehicle, animal, or other object. The motion state can include the relative distance, relative speed, and relative acceleration between the target object and the vehicle.

[0066] Step S104: Determine the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set;

[0067] Specifically, after obtaining the set of target objects detected based on environmental perception, the system identifies the trajectory overlap objects that overlap with the vehicle's driving trajectory within the target object set.

[0068] It's easy to understand that automatic braking control is used to automatically brake the vehicle when there is a risk of collision. The objects whose trajectory overlaps with the vehicle's trajectory are potential collision risk objects. By identifying these overlapping objects, braking control is applied to the vehicle based on them.

[0069] Step S106: If the number of trajectory overlapping objects is greater than 1, then brake the vehicle according to the motion state corresponding to each trajectory overlapping object.

[0070] In this embodiment of the invention, when multiple objects with overlapping trajectories are detected, the vehicle is braked according to the motion state corresponding to each object with overlapping trajectories. Compared with braking based on a single vehicle in front of the vehicle, this can effectively avoid chain-reaction rear-end collisions and improve driving safety.

[0071] In one embodiment, step S106, braking control of the vehicle is performed according to the motion state corresponding to each trajectory overlapping object, which may specifically include the following steps:

[0072] Step S1061: If the number of trajectory overlapping objects is greater than 1, determine the first overlapping object that is closest to the vehicle and the second overlapping object that is in front of the first overlapping object among the trajectory overlapping objects.

[0073] Specifically, when multiple overlapping objects are detected, the first overlapping object closest to the vehicle is first identified, and the second overlapping object located in front of the first overlapping object is also identified.

[0074] In one feasible implementation, the motion state includes the relative distance between the trajectory overlapping objects and the vehicle. Then, based on the relative distance between each trajectory overlapping object and the vehicle, the first overlapping object and the second overlapping object that are closest to the vehicle in relative distance can be determined among the trajectory overlapping objects. The first relative distance between the first overlapping object and the vehicle is less than the second relative distance between the second overlapping object and the vehicle.

[0075] That is, both the first overlapping object and the second overlapping object are located on the vehicle's driving trajectory, with the first overlapping object being closer to the vehicle than the second overlapping object. For example, when driving on a public road, the vehicle, the first overlapping object, and the second overlapping object are located in the same lane, with the vehicle at the back, the first overlapping object in front of the vehicle, and the second overlapping object in front of the first overlapping object.

[0076] Step S1062: Calculate the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the first overlapping object;

[0077] Specifically, after determining the first overlapping object closest to the vehicle, the first collision risk between the first overlapping object and the vehicle is calculated based on the first motion state corresponding to the detected first overlapping object.

[0078] In one feasible implementation, a collision risk calculation model is pre-created, which can calculate the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the detected first overlapping object.

[0079] The first motion state may include the first relative distance and the first relative speed between the first overlapping object and the vehicle.

[0080] Step S1063: Calculate the second collision risk between the second overlapping object and the first overlapping object based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object;

[0081] Specifically, after determining the first overlapping object closest to the vehicle and the second overlapping object located in front of the first overlapping object, the second collision risk between the second overlapping object and the first overlapping object is calculated based on the second motion state corresponding to the detected second overlapping object and the first motion state corresponding to the first overlapping object.

[0082] In one feasible implementation, a collision risk calculation model is pre-created, which can calculate the second collision risk between the first overlapping object and the second overlapping object based on the first motion state corresponding to the detected first overlapping object and the second motion state corresponding to the second overlapping object.

[0083] The first motion state may include a first relative distance and a first relative speed between the first overlapping object and the vehicle; the second motion state may include a second relative distance and a second relative speed between the second overlapping object and the vehicle.

[0084] Step S1064: Perform braking control on the vehicle based on the first collision risk and the second collision risk.

[0085] In this embodiment of the invention, during assisted driving, a first collision risk between the first overlapping object and the vehicle and a second collision risk between the first overlapping object and the second overlapping object are calculated. The vehicle is then braked based on the first collision risk and the second collision risk. Compared with braking based only on a single vehicle in front of the vehicle, this can effectively avoid chain-reaction rear-end collisions and improve driving safety.

[0086] In one embodiment, the motion state is based on the state information of the trajectory overlapping object detected by the radar sensor. The motion state includes the relative speed and relative distance between the trajectory overlapping object and the vehicle. The collision risk can be represented by the collision time. In step S1062, the first collision risk between the first overlapping object and the vehicle is calculated based on the first motion state corresponding to the first overlapping object. Specifically, the first collision time between the vehicle and the first trajectory overlapping object is calculated based on the first relative distance and the first relative speed between the vehicle and the first overlapping object.

[0087] In step S1063, the second collision risk between the second overlapping object and the first overlapping object is calculated based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object. Specifically, this can be: determining the third relative distance between the first overlapping object and the second overlapping object based on the first relative distance between the vehicle and the first overlapping object and the second relative distance between the vehicle and the second overlapping object; determining the third relative speed between the first overlapping object and the second overlapping object based on the first relative speed between the vehicle and the first overlapping object and the second relative speed between the vehicle and the second overlapping object; and determining the second collision time between the first overlapping object and the second overlapping object based on the third relative distance and the third relative speed.

[0088] The time to collision (TTC) refers to the time required for both vehicles to maintain their current speeds until a collision occurs, starting from the current moment. In this embodiment, the first collision time between the vehicle and the first overlapping object is calculated based on the first relative distance and the first relative velocity between the vehicle and the first overlapping object. That is, the collision time between the vehicle and the first overlapping object is calculated based on the relative distance and relative velocity.

[0089] In one feasible implementation, the collision time can be determined based on a vision sensor. The vision sensor acquires the size of the first overlapping object located in front of the vehicle at the current moment and determines the size change rate of the first overlapping object in front of the vehicle over time. The first collision time is obtained based on the size of the first overlapping object at the current moment and the size change rate.

[0090] When the collision risk is represented by the collision time, step S1064 involves braking control of the vehicle based on the first collision risk and the second collision risk. Specifically, if the first collision time is less than a preset time threshold and / or the second collision time is less than a preset time threshold, then braking control is applied to the vehicle.

[0091] The preset time threshold is a predefined collision risk threshold. When the collision time is less than this preset time threshold, a collision risk is considered to exist.

[0092] Specifically, if the first collision time is less than a preset time threshold, it is considered that there is a collision risk between the vehicle and the first overlapping object. At this time, the vehicle is given emergency braking to avoid the collision risk. If the second collision time is less than a preset time threshold, it is considered that there is a collision risk between the second overlapping object and the first overlapping object. At this time, the vehicle is given emergency braking to prevent the vehicle from being unable to brake in time when the second overlapping object and the first overlapping object collide, thus leaving a sufficient safe distance for the vehicle.

[0093] In this embodiment of the invention, by determining the first collision time between the vehicle and the first overlapping object and the second collision time between the first overlapping object and the second overlapping object, the vehicle is braked in combination with the first collision time and the second collision time. That is, the driving assistance method provided in this embodiment not only brakes based on the first overlapping object in front of the vehicle, but also considers the collision risk between the first overlapping object and the second overlapping object in front of it. Compared with braking based on only a single object in front of the vehicle, this can effectively avoid chain rear-end collisions and improve driving safety.

[0094] In one embodiment, if the first collision time is less than a preset time threshold and / or the second collision time is less than the preset time threshold, braking control is applied to the vehicle. Specifically, this may include the following situations:

[0095] The first scenario: If the first collision time is less than a preset time threshold, then the vehicle will be braked according to the maximum braking performance.

[0096] Specifically, if the first collision time is less than a preset time threshold, it indicates a collision risk between the vehicle and the first overlapping object. In this case, to avoid this collision risk, the vehicle is braked according to its maximum braking performance.

[0097] In the second scenario, if the first collision time is greater than or equal to a preset time threshold and the second collision time is less than the preset time threshold, then the vehicle will be braked according to the preset braking performance, which is weaker than the maximum braking performance.

[0098] Specifically, if the first collision time is greater than or equal to a preset time threshold, it indicates that there is no risk of collision between the vehicle and the first overlapping object. If the second collision time is less than the preset time threshold, it indicates that there is a risk of collision between the second overlapping object and the first overlapping object. In order to avoid the collision between the second overlapping object and the first overlapping object from affecting the vehicle's driving, the vehicle is braked according to the preset braking performance to leave a sufficient safe distance for the vehicle.

[0099] Understandably, when there is no risk of collision between the vehicle and the first overlapping object, but there is a risk of collision between the second overlapping object and the first overlapping object, the safety risk to the vehicle is relatively small. In this case, braking the vehicle with a preset braking performance less than the maximum braking performance can leave a sufficient safe distance between the vehicle and the first overlapping object, while also reducing the adverse impact of emergency braking on the driver's driving experience.

[0100] Preferably, the preset braking performance can be 40% of the maximum braking performance.

[0101] In one embodiment, the preset time threshold includes a first time threshold and a second time threshold, wherein the second time threshold is less than the first time threshold; in the above embodiment, the step of applying emergency braking to the vehicle if the first collision time is less than the preset time threshold and / or the second collision time is less than the preset time threshold may include the following situations:

[0102] First scenario: If the first collision time is less than the second time threshold, then the vehicle will be braked according to the maximum braking performance.

[0103] It should be noted that the first and second time thresholds are used to distinguish the risk levels of collision potential. When the collision time is less than the second time threshold, the risk level is considered high; when the collision time is greater than or equal to the second time threshold but less than the first time threshold, the risk level is considered low; when the collision time is greater than or equal to the first time threshold, there is no collision risk.

[0104] Specifically, when the first collision time is less than the second time threshold, it is considered that there is a high risk of collision between the vehicle and the first overlapping object, and the vehicle is braked according to the maximum braking performance.

[0105] The second scenario: If the first collision time is less than the first time threshold and greater than or equal to the second time threshold, and the second collision time is greater than or equal to the first time threshold, then the vehicle will be braked according to the preset braking performance.

[0106] Specifically, when the first collision time is less than a first time threshold but greater than or equal to a second time threshold, it is considered that there is a collision risk between the vehicle and the first overlapping object, but the risk level is low; when the second collision time is greater than or equal to the first time threshold, it is considered that there is no collision risk between the second overlapping object and the first overlapping object, and the vehicle is braked according to the preset braking performance. The preset braking performance is weaker than the maximum braking performance.

[0107] The third scenario: If the first collision time is less than the first time threshold and the second collision time is less than the first time threshold, then the vehicle will be braked according to the maximum braking performance.

[0108] Specifically, if the first collision time is less than the first time threshold, it indicates that there is a collision risk between the vehicle and the first overlapping object. If the second collision time is less than the first time threshold, it indicates that there is a collision risk between the second overlapping object and the first overlapping object. When there is a collision risk between the vehicle and the first overlapping object, and there is also a collision risk between the second overlapping object and the first overlapping object, the risk level is considered high, and the vehicle is braked according to the maximum braking performance.

[0109] The fourth scenario: If the first collision time is greater than or equal to the first time threshold and the second collision time is less than the first time threshold, then the vehicle will be braked according to the preset braking performance.

[0110] Specifically, a first collision time greater than or equal to a first time threshold indicates that there is no collision risk between the vehicle and the first overlapping object, while a second collision time less than the first time threshold indicates that there is a collision risk between the second overlapping object and the first overlapping object. When there is no collision risk between the vehicle and the first overlapping object, but there is a collision risk between the second overlapping object and the first overlapping object, the risk level is considered low, and the vehicle is braked according to the preset braking performance.

[0111] It should be noted that the selection of different braking performance configurations under different circumstances is not limited to the situations listed above. In practical applications, the braking performance selection can be set according to actual needs. In one feasible implementation, a pre-set collision risk calculation system can be used to calculate the collision risk between the vehicle, the first overlapping object, and the second overlapping object. Multiple collision risk levels can be set for different situations, and corresponding braking performance can be set for different collision risk levels. For example, three collision risk levels—high, medium, and low—can be set based on the collision risk between the vehicle, the first overlapping object, and the second overlapping object. When the calculated collision risk level is high, full braking is applied at maximum braking performance; when the calculated collision risk level is medium, braking is applied at 70% of maximum braking performance; and when the calculated collision risk level is low, braking is applied at 40% of maximum braking performance.

[0112] In one embodiment, if the number of detected trajectory overlap objects is equal to 1, then the vehicle is braked based on the motion state of the trajectory overlap objects and the motion state of the vehicle.

[0113] In one feasible implementation, the third collision time between the vehicle and the track-overlapping object is calculated based on the relative speed between the vehicle and the track-overlapping object and the relative distance between the vehicle and the track-overlapping object. If the third collision time is less than a preset time threshold, the vehicle is braked with maximum braking performance.

[0114] In one embodiment, if there are no trajectory overlap objects in the detected set of target objects that overlap with the vehicle's driving trajectory, then braking control is not performed.

[0115] In one embodiment, in step S102, obtaining the set of target objects located in front of the vehicle based on environmental perception can specifically be: obtaining point cloud data based on radar and obtaining image data based on visual sensors; detecting each target object and the motion state corresponding to each target object based on the point cloud data and image data, wherein the motion state includes at least the relative speed and relative distance between the target object and the vehicle.

[0116] Radar includes, but is not limited to, millimeter-wave radar, lidar, and ultrasonic radar.

[0117] Radar and vision sensors can be positioned at the front of the vehicle to collect data on the environment in front of it. Radar is primarily used to collect speed and distance information of target objects, while vision sensors are mainly used to identify the type of target object.

[0118] That is, while the vehicle is in motion, environmental data in front of the vehicle is collected in real time through radar and vision sensors, and the collected environmental data is used for identification and detection to obtain multiple target objects and the corresponding motion state of each target object.

[0119] In one embodiment, the motion state also includes the position corresponding to the target object; then, in step S104, determining the trajectory overlapping objects that overlap with the vehicle's driving trajectory in the target object set can specifically include the following steps:

[0120] Step S1041: Predict the vehicle's trajectory based on the vehicle's driving direction and road lane information;

[0121] Specifically, the vehicle is pre-installed with a trajectory prediction module, which can predict the vehicle's trajectory over a future period of time based on the vehicle's current driving direction, speed, and road environment information.

[0122] Step S1042: Based on the vehicle's driving trajectory and the corresponding positions of each target object, determine the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set.

[0123] Specifically, based on the predicted vehicle trajectory and the location of the target object detected at the current moment, it is determined whether the target object is located on the vehicle trajectory, and the target objects in the target object set that are located on the vehicle trajectory are taken as trajectory overlap objects.

[0124] It should be further noted that the driving assistance proposed in one or more embodiments of the present invention can be applied to a variety of driving assistance functions, including but not limited to automatic driving systems, adaptive cruise assist systems (ACC), traffic jam assist systems (TJA), and integrated cruise assist systems (ICC).

[0125] In one embodiment, in response to the autonomous vehicle driving assistance function being activated, a driving assistance method as disclosed in the above embodiments is executed, wherein the driving assistance function includes, but is not limited to, an adaptive cruise assist system, a traffic jam assist system, and an integrated cruise assist system.

[0126] In one specific application scenario, while the vehicle is driving based on driver assistance functions, radar periodically collects environmental perception data and detects a set of target objects in front of the vehicle based on the collected environmental perception data. Then, it identifies trajectory overlap objects in the target object set that overlap with the vehicle's driving trajectory. When there is only one trajectory overlap object, the vehicle is braked based solely on the motion state of that detected trajectory overlap object. When there are multiple trajectory overlap objects, the vehicle is braked based on the motion states of each of the multiple trajectory overlap objects. By combining the motion states of multiple trajectory overlap objects for braking control, compared to braking based solely on a single vehicle in front of the vehicle, chain-reaction rear-end collisions can be effectively avoided, thereby improving driving safety.

[0127] In some embodiments, the present invention also provides Figure 3 The diagram shows the structure of a domain controller. Figure 3 At the hardware level, the domain controller includes a processor 11, an internal bus 12, a network interface 13, memory 14, and non-volatile memory 15, and may also include other hardware required for business operations. This domain controller can be installed in a vehicle, where the processor 11 can read the corresponding computer program from the non-volatile memory 15 into memory and run it to implement the aforementioned driving assistance methods and improve driving safety.

[0128] In some embodiments, the present invention also provides a computer program product that may store at least one instruction, which may be loaded and executed by a domain controller as described in the above embodiments. The specific execution process can be found in the detailed descriptions in the above embodiments, and will not be repeated here.

[0129] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0130] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A driving assistance method, comprising: Acquire a set of target objects located in front of the vehicle based on environmental perception, the set of target objects including multiple target objects and the motion state corresponding to each target object; Identify trajectory overlap objects that overlap with the vehicle's driving trajectory from the target object set; If the number of overlapping trajectory objects is greater than 1, then the vehicle is braked according to the motion state corresponding to each overlapping trajectory object.

2. The method according to claim 1, wherein the braking control of the vehicle based on the motion state corresponding to each of the trajectory overlapping objects comprises: Among the aforementioned trajectory overlapping objects, determine the first overlapping object that is closest to the vehicle in relative distance and the second overlapping object that is located in front of the first overlapping object; Calculate the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the first overlapping object; The second collision risk between the second overlapping object and the first overlapping object is calculated based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object. The vehicle is braked based on the first collision risk and the second collision risk.

3. The method according to claim 2, wherein the motion state includes the relative speed and relative distance between the trajectory overlapping object and the vehicle, the first collision risk is represented by the first collision time between the first overlapping object and the vehicle, and the second collision risk is represented by the second collision time between the second overlapping object and the first overlapping object; The step of calculating the first collision risk between the first overlapping object and the vehicle based on the first motion state corresponding to the first overlapping object includes: The first collision time between the vehicle and the first trajectory overlapping object is calculated based on the first relative distance between the vehicle and the first overlapping object and the first relative speed between the vehicle and the first overlapping object. The step of calculating the second collision risk between the second overlapping object and the first overlapping object based on the first motion state corresponding to the second overlapping object and the first motion state corresponding to the first overlapping object includes: A third relative distance between the first overlapping object and the second overlapping object is determined based on a first relative distance between the vehicle and the first overlapping object and a second relative distance between the vehicle and the second overlapping object; A third relative speed between the first overlapping object and the second overlapping object is determined based on the first relative speed between the vehicle and the first overlapping object and the second relative speed between the vehicle and the second overlapping object; The second collision time between the first overlapping object and the second overlapping object is determined based on the third relative distance and the third phase velocity.

4. The method according to claim 3, wherein the braking control of the vehicle based on the first collision risk and the second collision risk comprises: If the first collision time is less than a preset time threshold and / or the second collision time is less than the preset time threshold, then braking control is applied to the vehicle.

5. The method according to claim 4, wherein if the first collision time is less than a preset time threshold and / or the second collision time is less than the preset time threshold, braking control is applied to the vehicle, comprising: If the first collision time is less than a preset time threshold, then the vehicle is braked according to the maximum braking performance. If the first collision time is greater than or equal to the preset time threshold, and the second collision time is less than the preset time threshold, then the vehicle is braked according to the preset braking performance, which is weaker than the maximum braking performance.

6. The method according to claim 4, wherein the preset time threshold includes a first time threshold and a second time threshold, the second time threshold being less than the first time threshold, and if the first collision time is less than the preset time threshold and / or the second collision time is less than the preset time threshold, then braking control is applied to the vehicle, including: If the first collision time is less than the second time threshold, then the vehicle is braked according to the maximum braking performance; If the first collision time is less than the first time threshold and greater than or equal to the second time threshold, and the second collision time is greater than or equal to the first time threshold, then the vehicle is braked according to the preset braking performance. If the first collision time is less than the first time threshold and the second collision time is less than the first time threshold, then the vehicle is braked according to the maximum braking performance. If the first collision time is greater than or equal to the first time threshold and the second collision time is less than the first time threshold, then the vehicle is braked according to the preset braking performance. The preset braking performance is weaker than the maximum braking performance.

7. The method according to claim 1, further comprising: If the number of the trajectory overlapping objects is equal to 1, then the vehicle is braked based on the motion state of the trajectory overlapping objects and the motion state of the vehicle.

8. The method according to claim 7, wherein the motion state includes the relative speed and relative distance between the trajectory overlapping object and the vehicle, and the step of braking control of the vehicle based on the motion state of the trajectory overlapping object and the motion state of the vehicle includes: The third collision time between the vehicle and the trajectory-overlapping object is calculated based on the relative speed and the relative distance. If the third collision time is less than a preset time threshold, the vehicle will be braked with maximum braking performance.

9. The method according to any one of claims 1-8, wherein the preset braking performance is 40% of the maximum braking performance.

10. The method according to claim 1, wherein obtaining the set of target objects located in front of the vehicle detected based on environmental perception includes: Acquire point cloud data based on radar and image data based on visual sensors; Based on the point cloud data and the image data, each target object and its corresponding motion state are detected. The motion state includes at least the relative speed and relative distance between the target object and the vehicle.

11. The method according to claim 10, wherein the motion state further includes the position corresponding to the target object; The step of determining the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set includes: The vehicle's trajectory is predicted based on its driving direction and road lane information. Based on the vehicle's driving trajectory and the corresponding positions of each target object, determine the trajectory overlap objects that overlap with the vehicle's driving trajectory in the target object set.

12. The method according to claim 1, further comprising: In response to the autonomous driving assistance function being activated, the step of obtaining the set of target objects located in front of the autonomous vehicle based on environmental perception is executed; The driving assistance functions include, but are not limited to, adaptive cruise assist, traffic jam assist, and integrated cruise assist.

13. A domain controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 12.

14. A computer program product having at least one instruction stored thereon, wherein the at least one instruction, when executed by a domain controller, implements the steps of the method according to any one of claims 1 to 12.

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